Blueberry sorter

ABSTRACT

An automatic sorting apparatus for objects, such as fruit, has a plurality of individual cups arranged in a spaced array on a conveyor means to singularly receive and carry fruit from a feeding station to an optical reading station where light from a source of illumination under the conveyor means passes through bottom apertures in the cups to be diffused by the carried fruit with the scattered light being captured by fiber optic means disposed at an angle other than 180* with respect to the source of illumination. Optical means coupled to the fiber optic means generates electrical signals proportional to the transmittance of the fruit at a plurality of selected wavelengths and electronic means is activated by such transmittance related signals to generate sorting signals which indicate the condition of the carried fruit. A logic network interprets such signals and respondingly actuates an ejection system wherein air valves are selectively activated to cause air blasts to eject the fruit from the cups at different sorting stations in accordance with the sensed condition of the fruit.

United States Patent McClure et al.

[ Nov. 20, 1973 BLUEBERRY SORTER [75] Inventors: William Fred McClure;Roger Phillip Rohrbach, both of Raleigh, NC.

[73] Assignee: Research Corporation, New York,

[22] Filed: Mar. 21, 1972 [21] Appl. No.: 236,613

[52] {1.8. Cl 209/73, 209/111.6, 209/l11.7, 209/74, 250/223, 250/227[51] Int. Cl. B07c 5/342 [58] Field of Search 209/111.7, 111.6, 209/73,74; 250/227, 223, 224, 226

[56] References Cited UNITED STATES PATENTS 3,393,800 7/1968 Durand, Jr209/11 1.7

3,530,341 9/1970 Hutchinson 250/227 3,565,248 2/1971 Messerschmidt209/l1l.7 3,206,022 9/1965 Roberts, Jr. et a1. 209/11 1.6 X 3,380,5864/1968 Frobese et al. 209/1 11.6 X

Primary Examiner-Allen N. Knowles Att0rneyl-larold L. Stowell et al.

[5 7 ABSTRACT An automatic sorting apparatus for objects, such as fruit,has a plurality of individual cups arranged in a spaced array on aconveyor means to singularly receive and carry fruit from a feedingstation to an optical reading station where light from a source ofillumination under the conveyor means passes through bottom apertures inthe cups to be diffused by the carried fruit with the scattered lightbeing captured by fiber optic means disposed at an angle other than 180with respect to the source of illumination. Optical means coupled to thefiber optic means generates electrical signals proportional to thetransmittance of the fruit at a plurality of selected wavelengths andelectronic means is activated by such transmittance related signals togenerate sorting signals which indicate the condition of the carriedfruit. A logic network interprets such signals and respondingly actuatesan ejection system wherein air valves are selectively activated to causeair blasts to eject the fruit from the cups at different sortingstations in accordance with the sensed condition of the fruit.

19 Claims, 24 Drawing Figures PATENTED ROYFO I975 SHEET 10F 8 RE. i

PATENIEUuuvzo 1925 3.773172 mm s c? 8 FIG. /6.

MASTER CLOCK SOURCE I02 PHOTO I88 DETECTOR PMENTEDHBY 20 1915 NEW 8 [F 8FIG. I9.

FIGZI.

gal/III) FEEDING STATIONS LAMP BLUEBERRY SORTER BACKGROUND OF THEINVENTION 1. Field of the Invention The present invention generallyappertains to new and novel improvements in sorting and classifyingsystems and attendant devices and methods and is especially directed toa new and novel automatic sorting apparatus and method for use inseparating objects in accordance with a sensed physical propertythereof, and, in particular, the automatic sorting of agriculturalproducts such as fruit, in accordance with the sensed and evaluatedinterior condition, quality or other state thereof.

With particular regard to agricultural products, such as fruit, theintroduction of mechanical harvesting systems has made it necessary todevelop automatic sorting systems that will keep pace with themechanized harvesting techniques. This has been required for two mainreasons. In the first place mechanized harvesting is largelynon-selective and, therefore, a quantity of mechanically harvested fruitcontains the complete spectrum from green to overmature fruit. Greenfruit can be easily sorted by hand, but the level of maturity beyond thegreen state is rather difficult, if not impossible, for manual laborersto distinguish. For example, a blueberry beyond the green or marooncolor state (immature) is blue and unless it has begun to deteriorate,it cannot be readily selected for maturity with only the aid of thehuman eye. In the second place, the volume rate of fruit produced forprocessing by mechanical harvesting devices is very high and manualtechniques for sorting cannot, iver any substantial period of time,maintain pace with such high volume. Furthermore, as manual laborbecomes more expensive, the cost factor will become such that the use ofmanual labor will be prohibitive. Coupled with this is the fact thatsuch hand labor is becoming increasingly scarce.

For these reasons, considerable attention has been given, of late, tothe development of automatic sorting systems and techniques wherebyagricultural products, such as fruit, can be automatically sorted andclassified in accordance with the viewed or sensed condition andappearance thereof after such products are delivered to a feedingstation by the mechanical harvesters.

Such developments have been based on discoveries that agriculturalproducts by their biological nature act as optical diffusers and can beilluminated from a light source so that they reflect radiant energywhich can be measured as a quality index to give an evaluation of theinterior condition or quality of such products. Stemming from the needfor more precise light transmittance measurements of the interiorquality of agricultural products have been attempts at the developmentof radiation sensing devices with means responsive to such devices forclassifying and sorting the agricultural products.

However, various difficulties have been encountered in the attempts toprovide, on the above-stated basis, fully automated sorters that operatein an efficient manner with a rapid turnover of a high volume ofproducts. Difficulties have been encountered in the mechanized handlingand conveying of the products past an optical reading station in afashion so that each product is scanned and its condition sensed in aproperly singulated manner. Also, known sorters have requiredcomplicated sequential reading and storage mechanisms. In addition, suchdevices have tended to damage the products during the sorting operation,either at the pick-up or delivery points, especially at the latter,after the products have been viewed, because of the way that theproducts are sent to different sorted products depots.

SUMMARY OF THE INVENTION Accordingly, a primary object of the presentinventionis to provide an automatic sorting apparatus and method forsorting agricultural products, as well as similar objects, in a way toovercome the afore-mentioned and other drawbacks attendant with knownapparatus and methods and in a manner to permit a large volume of suchproducts to be dependably and efiiciently sorted and separated intodifferently classified groups without damage or injury to the products.

Another important object of the present invention is to provide a simpleand effective optical reading arrangement for an automatic sortingapparatus wherein a fiber optical light bundle has a single blended endadjacent the object to be viewed and classified and an opposing furcatedend adjacent a radiant energy sensing device with the fiber bundlestransmitting the sensed radiation to at least two separate receptors,thereby eliminating the need for complicated delay and storagemechanisms.

Another important object of the present invention is to preventsaturation of photomultiplier receptors at the furcated end of suchfiber bundle by angularly positioning a source of illumination, thatsupplies light to the objects, and the blended end of the optical bundlerelative to each other at an angle other than Another important objectof the present invention is to provide means for singularly captivatingand carrying objects from a feeding station past an optical readingstation to sorting stations without damaging or injurying the objectsand in a way so that an optinum delivery and conveying rate can beestablished and maintained.

Another important object of the present invention is to provide anejection system that responds to a logic network, which interpretssignals from an electronic system under activation by transmittancerelated signals from the viewed objects, and functions to remove objectsfrom their conveying means in a way so that the objects are forciblyejected from the conveying means and guided in a manner to dissipate thekinetic energy of the ejected objects.

Broadly stated, the apparatus and method of the present inventionbasically has a sorting cycle that involves:

1. Feeding the objects, such as fruit, to an input conveyrng means.

2. Captivating in singular fashion the objects and moving them by theconveying means in a spaced and singulated array past a reading station.

3. Reading the physical properties of the objects at the reading stationwith an optical system.

4. Processing electrical signals generated by the optical system throughan electronic circuit.

5. Utilizing a logic network, that interprets signals from theelectronic circuitry, to activate on a selective basis an ejectionsystem to forcibly eject the objects onto moving output carriers atdifferent sorting stations.

More specifically considered, the automatic sorting apparatus has cupsthat are mounted in a spaced apart array on a carrier or input conveyormeans and moved thereby through a feeding station, which is suppliedwith fruit or other agricultural products from a harvester, so that eachcup becomes laden with and retains a single piece of fruit. The fruitladen cups move in a particular pattern past an optical reading stationwhere a light source illuminates the fruit through an aperture in eachcup. The light thusly entering the fruit in a cup is diffused by thefruit with the scattered light being captured by fiber optic meansdisposed at an angle with respect to the fruit. Optical means coupled tothe fiber optic means generates electrical signals proportional to thetransmittance of the fruit at a plurality of selected wavelengths.Electronic means is activated by these transmittance related signals togenerate sorting signals which indicate the interior condition of thefruit, as, for example, whether a particular fruit, for example, ablueberry, is underripe, ripe or overripe. An ejection system comprisesa plurality of air nozzles disposed adjacent the carrier or inputconveyor means and connected through high pressure air valves to asource of pressure air. A logic network interprets the signals from theelectronics system to cause selected air valves to be actuated atparticular times. Air blasts then pass through the apertures in thefruit laden cups to eject the fruit from the input conveyor means atdifferent sorting stations onto output conveyors in accordance with thesensed condition of the fruit. Also, the air blasts are not activatedand some of the fruit is allowed to pass such sorting stations and toreach a gravitational sorting station.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side elevational view,partly in vertical section, of an automatic sorting apparatus inaccordance with the present invention.

FIG. 2 is a transverse cross-sectional view taken substantially on lines22 of FIG. 1 and illustrating the catchment and singularizaton of thefruit by the carrier conveyor supported and carried cups at the feedingstation, which is in the form of a hopper overlying a portion of thecarrier conveyor.

FIG. 3 is a vertical cross-sectional view taken substantially on lines33 of FIG. 1 and illustrating the tunnel formation at the feedingstation through which the cup supporting carrier conveyor moves.

FIG. 4 is a vertical cross-sectional view taken substantially on lines4-4 of FIG. 1 and illustrating the optical reading station inoperational relation with the fruit laden conveyor carried cups.

FIG. 5 is a vertical cross-sectional view taken substantially on lines55 of FIG. I and showing the fruit ejectment corridor assembly whereinand whereby the kinetic energy of the fruit ejected from the conveyorcups is dissipated.

FIG. 6 is a vertical longitudinal sectional view taken substantially onlines 6-6 of FIG. 5 and showing the trajectory of the ejected fruit inthe ejectment corridor assembly and one of the crosswise disposedcatcher or output conveyors onto which the fruit is deposited at asorting station.

FIG. 7 is a horizontal cross-sectional view taken substantially on lines7--7 of FIG. 6 and illustrating the other curvature of the two-waycurved ejectment control corridors.

FIG. 8 is a top plan view of the sorting stations with the ejectmentarrangement and the control corridors in relation with the fruit inputconveyor and the output or discharge conveyors and is takensubstantially on lines 8-8 of FIG. 1.

FIG. 9 is a vertical cross-sectional view taken substantially on lines9-9 of FIG. 1 and showing one of the crosswise output conveyors at asorting station in relation with the cup carrier conveyor.

FIG. 10 is a top plan view of one of the fruit captivating and carryingcups on the carrier or input conveyor.

FIG. 1 1 is a vertical cross-sectional view through one of the cups andis taken substantially on lines 11-] 1 of FIG. 10 and shows the sidedesign of the cups. FIG. 12 is a vertical cross-sectional view takensubstantially on lines 1212 of FIG. 11 and showing the frontal design ofthe cups and the high back wall.

FIG. 13 is a partial schematic illustration of one of the sortingstations illustrating the cups in relation to the ejection air nozzleswith the air control valves therefor.

FIGS. 14A and 14B are combination schematic and block diagrams of theelectronic system for the automatic sorting apparatus of the presentinvention.

FIG. 14C is a graph illustrating the relative magnitude of pulsesgenerated by underripe, ripe and overripe fruit carried by the cups onthe carrier conveyor.

FIG. 15 is a diagrammatic illustration of the physical relationship ofthe reading station with the sorting stations.

FIG. 16 is a block diagram illustrating the optical system at thereading station.

FIG. 17 is a block diagram of the synchronization and ejection system.

FIG. 18 is a schematic showing of the master clock source.

FIG. 19 is a top plan view of a modified form of automatic sortingapparatus in accordance with the present invention.

FIG. 20 is a vertical cross-sectional view taken on lines 20-20 of FIG.19.

FIG. 21 is a transverse cross-sectional view taken substantially onlines 21-21 of FIG. 19 and showing the design of the fruit carrying cupsused with the modified form of FIG. 19.

FIG. 22 is a perspective view of the cup shown in cross-section in FIG.21.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring now more particularlyto the accompanying drawings and initially to FIGS. 1-18, the automaticsorting apparatus 25 includes a carrier or input conveyor which is inthe form of a flexible conveyor belt that is supportively mounted onidler rollers 32 and 34 arranged in a longitudinally spaced apartparallel and coplanar relation and a drive roller 36 which is parallelwith the idler rollers and disposed therebelow. The drive roller 36 ispositioned in a horizontal plane below the rollers 32 and 34 so that thebelt has an upper reach 40 at one end with such reach being inclined atan angle of about The angle of inclination with respect to thehorizontal of the reach 40 can be adjusted by moving the idler rollers32 and 34 bodily relative to the drive roller 36 that is driven by asuitable drive assembly (not shown) so as to move the belt 30 in acounter-clockwise direction, as indicated by the arrow 38 in FIG. 1.

The carrier conveyor belt 30 is formed with a patterned series ofvertical holes 41 within which the eyelet bases 43 of carrier cups 42are fixedly secured in a rivet-like fashion. The carrier cups arearranged in a staggered array, as shown in FIG. 2, with the cups beingin parallel rows that are lontiduinally spaced apart and are slantedfrom one side edge of the carrier conveyor belt to the opposing sideedge.

Each of the cups 42, as shown in FIGS. l012, is of cylindrical orrounded form and has an open front face or side 44 and a confronting,relatively high rounded back wall or side 46 with top edges that areinclined from the open front face to the central round top edge of theback wall 46. Thus, each cup is of an open-faced form with across-sectional shape or configuration that approximates the geometricalshape of the object to be sorted. For example, as shown, the cups are ofcylindrical shape to contain berries. The dimensions of the cups arechosen so that only one piece of fruit can occupy the space within theconfines of the cup structure at any one time, thereby, enabling thecups to singularize the fruit in capturing the fruit at a feeding orloading station. The bases or bottoms 43 of the cups have verticalapertures 48 which, in the given instance, structurally result from theeyelet formation of the bases that attach the cups to the carrier belt30.

The cups are oriented on the upper face of the belt 30 so that theyupstand therefrom with the open front sides of the cups facing thedirection of motion of the belt, as shown in FIGS. 1 and 2. The cups arein staggered row arrangement, as aforedescribed, so as to cooperate witha feeding station in the form of a loading or catchment hopper 50, asshown in FIGS. 2 and 3, in the singularization capture and conveyance ofthe fruit from the feeding station.

The carrier belt 30 with the supported cups 42 on its outer facecooperates with the hopper along the inclined end reach portion 40thereof, with the belt reach portion 40 passing through the hopper as amoving upwardly inclined bottom wall therefor. The belt moves through aslot-like opening 54 formed transversely in the lower edge portion ofthe outer or front wall of the hopper adjacent to the roller 36. Atunnel element 56 is positioned in the opening so as to close off thesame while allowing the belt to pass therethrough below the tunnelelement, as shown in FIG. 2. The tunnel element is held in place bysuitable support means and is provided with longitudinally extending,individual channels 58 which are in parallelism and are laterally spacedapart the same distance as the spacement between the cups in each of therows.

The cups 42 entering the hopper 50 pass through the channels 58, asshown in FIGS. 2 and 3, with the length of the channels being such thatas one cup in one longitudinal line on the belt face exits from theinner end of the tunnel, the next successive cup enters the same channelat the outer end of the tunnel. As can be appreciated from FIG. 2, thelength of the channels is such in relation to the longitudinal spacementbetween the cups in each line that there is always a cup in a channel toblock off the channel at its outer end and to ensure that no fruit 52can escape from the hopper by falling out through one of the channels.The cups, as can be appreciated from FIG. 3, are of such a size andshape in relation to the cross-sectional shape and area of the channelsthat the cups occupy a sufficient amount of the area so that a fruit 52cannot move past the cup. Thus, any fruit rolling or sliding in achannel will be moved therefrom into the hopper by the cup traveling inthe channel.

Due to the slanted row arrangement of the cups on the face of the belt,there is always a cup in one of the channels with one cup in a given rowexiting from its channel, while the other cups in the same row aremoving through and entering their channels. The cups are disposed inslanted row array for another reason having regard to the readingstation 60, as will be explained.

The apparatus 25 was designed primarily for sorting blueberries;however, the features and characteristics of the apparatus permit itsutilization in sorting other fruits such as applies, oranges,cranberries, grapes, cherries, and any other fruit or vegetables whichhave an approximately spherical shape. The adaptation to any fruit ofthe above types is a matter of changing the cup size in order to achievesingularization of the fruit for the reading head.

Considering FIG. 1, fruit is fed into the catchment hopper at asufficient rate to keep the cups 42 filled. Filling of the cups 42 takesplace on the inclined reach portion 40 of the belt 30 within the hopper50. The cups 42 are arranged on the belt in the staggered array in orderthat only one fruit at a time passes under the reading station 60. Thecups 42 are designed to scoop the fruit as they progress up the incline.

The cups pass up and out of the hopper with each cup carrying a fruitthat it has scooped up from the interior of the hopper. From theupwardly inclined reach 40, the belt moves in a substantially horizontalpath past the reading station 60, as shown in FIG. 1, where the fruitladen cups are optically viewed to determine the interior condition,quality, or some other sorting characteristics or physical properties ofthe fruit.

The reading station, as shown in FIGS. 1 and 4, comprises a plurality ofligt sources 62 that are vertically disposed transversely beneath thebelt 30 in a spaced apart row arrangement with the lateral spacing beingthe same as the lateral spacing of the cups in their row array on thebelt 30. The number of light sources depends upon the number of cups ina row. In the present instance, there are three cups to each row, sothat there are three channels 58 in the tunnel element 56 and thre arethree light sources. But the light sources are in alignment transverselyof the carier belt 30. Above the outer face of the belt and above thecups there are three laterally aligned and spaced apart light sensingprobes 64. A probe is provided for each light source and each cup in therow, so that there would be as many probes as cups and light sources.The present form is what may be termed a three channel sorter.

The light sources are lamps that are prefocused to illuminate theinterior areas and beyond of the cups by passing light rays through thebottom apertures 48 in each of the cups. In the present invstance, thesorter has been developed for use in sorting blueberries and, in regardthereto, it has been found that tungsten lamps function satisfactorilyas the light sources.

As shown in FIG. 4, the probes 64 are in the form of blended flexiblefiber optic bundles. The probes, as shown in FIG. 1, are in alignmenttranversely of the carrier belt 30 but due to the slanted rowarrangement of the cups on the outer face of such belt only one fruitladen cup is presented at a time to be viewed or sensed by itsassociated overhanging probe 64 at the reading station 60. The bundles64 are bifurcated to permit measurement at two wavelengths as will bedescribed. Polyfurcated fiber optic bundles can be used to performmeasurements at more than two wavelengths in a manner to be described.

The particular design of the reading station 60 using light guideshaving their ends blended near the fruit to transmit lightsimultaneously to two separate filters permits multiple optical densityreadings to be made simultaneously and, thereby, eliminates the need forcomplicated sequential reading and storage mechanisms normally requiredwhen multiple optical density readings are desired.

As each fruit laden cup moves past the reading station 60, light fromone of the lamps 62 enters the cup through the optical aperture 48provided in the bottom of each cup. Since fruit, like most biologicalmaterials, is an excellent diffuser, light entering the cups through theapertures 48 and entering the berries captively carried by the cups isscattered in all directions, as illustrated by the scattered light raypattern 66 in FIG. 4. The fiber bundles, as shown in FIG. 4, areoriented at an angle less than 90 to the horizontal 67 and arepositioned adjacent the fruit cups 42 in an angular relative manner soas to prevent direct optical coupling of the light ray 68 to the fiberbundle 64 when no fruit is present in a cup.

The reading station is designed to utilize the diffusing property offruit by sensing a portion of the diffused light at an angle other than180. Thus, saturation and possible damage to photomultiplier tubes, aswill be described, will be avoided in the event that a cup without anyfruit therein should pass the reading station and be subjected to thelight rays emitted there. In this respect, the light source or lamps andthe probes are out of opposing alignment, as aforedescribed, and are inan angular relationship other than 180.

After passing the reading station 60 and being subjected to the opticalviewing at such station, the fruit is conveyed to sorting stations 108a,1081; and 110, as shown in FIG. 1 and, depending upon the viewed andsensed condition of the fruit, such is removed at a selected one of suchsorting stations. In the present instance, there are the three sortingstations 108a, 1081; and 110 to correspond to the sorting of the berriesbased on maturity characteristics of (1) ripe; (2) overripe or (3)underripe.

The sorting stations 108a and 108b are in longitudinal alignment alongthe upper horizontal reach portion of the belt 30 forward of the readingstation 60, while the sorting station 110 is in the nature of agravitational dumping of the fruit as the belt moves over the roller 32.The station 110 operates in the case of fruit still in the cups afterthe cups have moved past the successively arranged stations 108a and10812 and because of the condition of the fruit such has not beenejected at the stations 108a and 108b. Output conveyor means (not shown)is arranged to receive and transport the fruit from the sorting station110.

Each of the sorting stations 108a and 108b is provided with a set 109 ofvetically disposed air nozzles 112, with each set consisting of threenozzles arranged in an aligned row transversely beneath the belt 30 inthe area of such stations. There is one nozzle in each set at eachstation for each channel or each line of cups. Since the presentapparatus 25 is a three channel sorter with three cups in a row, thereare three nozzles, per set, as shown in FIG. 13. Each of the nozzles isconnected through high pressure air hose 114 to a control air valve, asshown in FIG. 13.

Since there is a set of air valves at each of said sorting stations 108aand 108!) with three air valves to a set, there is a total of six airvalves in the present three channel form of the apparatus 25. Such airvalves 150, 152 and 154 and 156, 158 and 160 are shown in FIG. 13 andare activated in selective fashion by a logic network that interpretssignals from an electronic system, as will be described. The air valvesare connected to a source of air pressure (not shown) by suitableconduit means.

The air nozzles in each of the two sets are vertically disposed beneaththe belt so as, upon opening of the associated control valve, to directair blasts upwardly toward the under side or face of the belt. Aspreviously stated, each of the cups 42 has an aperture 48 in its bottonand such apertures serve not only as optical passages for the light raysin the optical reading system but also function, in the ejectment of thefruit at the sorting stations 108a and 108b, as pathways for theejecting air blasts from the underlying air nozzles. The air nozzlesonly function when their valves are opened and the opening of the valvesis controlled in a manner to be described.

Each of the sorting stations 108a and 10812 is provided with guide andcontrol means 1 16 for guiding and controlling the fruit ejectedupwardly out of the cups 42 by a blast of air from one of the nozzles.Such means 116 includes an arcuate hood 118 which has a vertical wall120 and which is internally divided by parallel, laterally spacedvertical partitions 122 and vertical end walls 122a into a plurality ofvertical corridors 123 that overlie the longitudinal line of the cups 42on the belt 30. Thus, there is a corridor 123 for each longitudinal lineof cups on the belt, so that there are three corridors to correspond tothe three channel form of the sorting apparatus 25. The partitions 122and the end wall 122a are curved in a vertical plane, as shown in FIG.7. Thus, the parallel corridors are double curved, in a vertical andhorizontal sense, so as to constrain the ejected fruit 52 to followsomewhat of a parabolic trajectory.

When a fruit laden cup 42 reaches one of the sorting stations 1080 or108b and the condition of the contained fruit in such cup is such thatit has been selected to be discharged at one of such stations, asynchronized air blast from one of the air nozzles will propel the fruitupwardly into one of the corridors 123. The ejected fruit is firsttrapped in the parallel curved corridor 123 wherein the kinetic energyof the ejected fruit is dissipated as it travels through an approximateparabolic trajectory, as shown in FIG. 6. Since the corridors arecurved, the fruit cannot return or bounce out before its kinetic energyis dissipated.

The thusly spent fruit drops without being damaged onto the upper movingface of an output or discharge belt conveyor 125 which mvoestransversely of the carrier belt 30, as shown in FIG. 5, and lies ateach sorting station 108a and l08b in horizontal plane of the carrierbelt portion, so that the cups with or without fruit can freely pass theplurality of cross-conveyors 125. The discharged fruit is carried on oneof the conveyors 125, that travel in the direction of the arrows of FIG.8 transversely of the longitudinal path of travel of the carrier belt30, to a location at the side of the apparatus 25 for further processingand packaging.

Optical density of the fruit, such as the blueberries, was selected asthe basis for sorting the fruit in accordance with the operation of thesorting apparatus 25. For example, it is known that as blueberriesmature, the anthocynin content increases which causes darkening of thefruit and an increase in the optical density at 740 nanometers (nm) withrespect to the optical density at 800 nm. A nanometer equals meters.Furthermore, experimental work with blueberries has determined thatwhere OD optical density of the berry at 800 nm CD optical density ofthe berry at 740 nm is proportional to the maturity of the berries.Thus, blueberries may be sorted for maturity by measuring the opticaldensity of the berries at two wavelengths. Other fruit and otheragricultural products may also be sorted for maturity on the basis ofchlorophyll content, carotene, or other characteristics by properlyselecting the filters as described below.

Referring to FIGS. 4, 14A and 14B and 16, scattered light passingthrough the fruit 52 is gathered by the fiber optic bundle 64. In thepresent embodiment, each bundle 64 is bifurcated and has two branches 70and 72. The branch 70 is connected to a filter 74 which, in turn, isconnected to a photomultiplier tube 76; and the branch 72 is connectedto a filter 78 which, in turn, is connected to a photomultiplier tube80. The present embodiment is disclosed as using bifurcated bundles 64because, as discussed above, it is possible to sort blueberries on thebasis of two wavelengths. If it were desirable to use more than twowavelengths in the sorting process, polyfurcated bundles could be used.

Proper selection of the filters 74 and 78 is dependent upon knowledge ofthe optical properties of the fruit to be sorted. In the present exampleinvolving blueberry sorting, the filter 74 will pass light energy at awavelength of 740 nm and the filter 78 will pass light energy at awavelength of 800 nm. Thus, a light energy receiving tube 76 is providedthat will read the transmittance of the berry at 740 nm, and the tube 76will generate a current proportional to transmittance at 740 nm.Likewise a light energy receiving tube 80 is provided that will read thetransmittance of the berry at 800 nm,

and the tube 80 will generate a current proportional to v thetransmittance at 800 nm. Such tubes 76 and 80 constitute separatephotoelectric means disposed adjacent each filter for receiving lightenergy filtered by the filters and for generating electrical signalsproportional to the maturity of the berries at the wavelengths selectedby the filters.

Since the optical density of the fruit is needed and since OD Log Twhere T Transmittance the anodes, 77 and 81, of the tubes 76 and 80,respectively, are connected to logarithmic amplifiers 82 and 84 whichproduce output voltages proportional to the log of the input currents.Since the input currents to the amplifiers 82 and 84 are proportional tothe transmittance of the fruit at 740 nm and 800 nm, respectively,

the output voltages from the amplifiers 82 and 84 will be proportionalto the optical densities of the fruit at 740 nm and 800 nm. Of course,the output voltages from the amplifiers 82 and 84 will be proportionalto the optical densities of a fruit sample at any selected wavelength,as determined by the filters 74 and 78. The optical density difference,AOD, is calculated by feeding the outputs from the log amplifiers 82 and84 to a difference amplifier 86; the output voltage from the amplifier86 is proportional to the difference in optical densities of the fruitat 740 nm and 800 nm, and is, therefore, proportional to the maturity ordegree of ripeness of the fruit, in accordance with the sensed conditionaforestated.

As each fruit passes the reading station 60, a pulse appears at theout-put of the amplifier 86. Continuing to assume that the fruit is ablueberry, the height of the pulse is directly proportional to thedegree of maturity of the berry. Overmature berries produce a relativelylarge pulse, as illustrated at 88 in FIG. 14C, while the illustratedsmaller pulses 90 and 92 correspond to ripe and underripe (green)berries, respectively. The output pulses from the amplifier 86 can,therefore, be used to sort the berries with respect to maturity.

Output pulses from the amplifier 86 are fed to comparators 94 and 96which have adjustable reference voltage levels set relative to expectedpulse outputs from the amplifier 86. For example, assuming that thereference voltage of the comparator 94 is set to the peak voltage 88(FIG. 14C) expected from the amplifier 86 and that the reference voltageof the comparator 96 is set to the peak voltage 90, then berries passingunder the reading station 60 and producing an output pulse at theamplifier 86 greater than or equal to the reference voltage of thecomparator 94 will produce a logic level zero output from the comparator94. This logic zero is fed to an inverter 98 where the zero is convertedto a logic level one; and this logic one is fed to a shift register 100on the first occurring pulse from a standard master clock source 102(FIG. 14A). The master clock source is driven off of a single channel onthe carrier belt 30, as illustrated in FIG. 18. In this respect, a lightsource 186 illuminates photo detector 188 each time a cup passes. Thesignal generated by the photo detection 188 is fed to the master clocksource 102 (FIG. 14A) to drive that clock source in synchronism with themovement of the conveyor cups 42. The logic one fed from the inverter 98to the register 100 acts simultaneously to deactivate a gate 104 so thata logic zero is fed to a second shift register 106. The logicinformation in the shift registers 100 and 106 moves along at the rateof the master clock pulse frequency. The same process would be followedif the comprator 96 was activated, except, in that case, the comparator94 would not be activated by pulses smaller than the pulse 88 (FIG.14C). The movement of the berries from the reading station 60 to thesorting stations in FIG. 1 is synchronized with the movement of thelogic information in the shift registers 100 and 106 so that the berrieswill be in sorting positions and ejected as desired at the sortingstations when the registers 100 and 106 actuate the correct air valve asdescribed below.

The state of switches S1, S2, S3 and S4 determines which berries will beejected at the sorting stations 108a and 1108b and which berries will bepermitted to drop out at the sorting station 110. The following chartdescribes the sorting sequence:

S3 & S4 8!. S1 & Sorting S4 Closed S2 Closed S3 Closed Station S1 & 52Open S3 81. S1 Open S2 & S4 Open 1080 Ripe Green Ripe Gb OverripeOverripe Green 110 Green Ripe Oven-ipe Thus, the sorting sequence andposition is easily determined. The shift register 124 carries thesorting information for green fruit which produces pulse 92 (FIG. 14C).When neither of the cmparators 94 or 96 is activated, a logic one is fedto the shift register 124 by the comparator 96. When one of thecompraators 94 and 96 is activated, a logic zero is fed to the register124.

Channeling of the logic information passing through switches 51-84 iscontrolled by OR gates 126 and 128. Logic ones coming out of the shiftregisters 100, 106 and 124 initiate sorting signals; and logic zerosdictate that no sorting will occur. Logic ones from OR gates 126 and 128are fed through conventional delayduration circuits 130 and 132. Thesedelay duration circuits permit an adjustable O30 millisecond delay ofthe air pressure signal with an adjustable 10-100 millisecond durationof the air pressure signal.

FIG. 17 illustrates the cup synchronization system in block form. Thereis one photodetector 182 and one light source 180 disposed on oppositesides of the belt 30 for each channel in the system. As fruit cups passthe synchronization station, light from the source 180 falls upon adetector 182 each time a cup in a particular channel passes. Lightfalling upon a detector 182 generates a signal which turns on a slavecontrol clock 162, 164 or 166 as determined by the chanel passing thelight.

The present three channel system includes six AND gates: three AND gatescomprise Darlington pair 134 and SCRs 138, 140 and 142, respectively;and another three AND gates comprise Darlington pair 136 and SCRs 144,146 and 148, respectively (FIGS. 14B and 17).

Air valves 150, 152 and 154 are in the anode circuits of SCRs 138, 140and 142, respectively; and air valves 156, 158 and 160 are in the anodecircuits of SCRs 144, 146 and 148, respectively. The Darlington pairs134 and 136 are turned on by information from the shift registers 100,106 and 124. The SCRs 138, 140, 142, 144, 146, and 148 are turned on bythe slave clocks 162, 164 and 166. The slave ciock signal determineswhich cup (channel) is at the sorting station (only one cup/channel in asorting station at a time); and the information signal from the shiftregisters determines whether a sorting will be performed. If bothsignals are not coincident, ejection and sorting will not occur.Coincidence of signals at either AND gate requires that one air valve atone of the sorting stations will be activated because because the airvalves are connected in the anode circuits of the SCRs.

The automatic sorting apparatus 25 can operate at a high practical rate.In this respect, the following data is pertinent:

Maximum speed of the belt 30 is approximately 25 in/sec. Nominal speedis in/sec. At 20 in/sec the apparatus will sort 20 berries/sec or 120berries/minute. This is approximately 0.4 pint/minute.

Sorting at a rate of pints/minute will require a through-put of 9,000berries/minute or 150 berries/sec. Designing the belt with 10 cups/inand running at a speed of 20 in/sec gives a sorting rate of 200berries/sec (BPS) with percent fill. Percent of fill is normally greaterthan 90 percent at a speed of 20 in/sec. Thus, a sorting rate of 180 BPSis commercially possible.

In respect to the number of lines per set of the photomultiplier tube,the following data is pertinent:

A fiber optic with a diameter of one-fourth inch is bifurcated giving abundle size of approximately 3/16 inch diameter.

Area of bifurcated bundle =rrd /4 AREA of PMT 1r(l.25 /4 L226 in No. offiber bundles/PMT 1.226/0.0276 44.4

Each photomultiplier tube could handle up to 44 channels.

FIGS. 19-22 illustrate a modification of the automatic sorter. As showntherein, the automatic sorting apparatus 250 includes a sorting disc orplatform 168 that is rotated by a drive means 174 and has a plurality offruit cups 420 disposed in a circular array thereon. Feeding of fruit tothe cups at the feeeding stations 50a can be either manual or automatic.Fiber optic sensing means 640 are disposed at a reading station 600 tocollect light scattered by fruit in the cups from an underlying lamp62a. A plurality of air nozzles 1120 are disposed adjacent the fruitcups 42 to form sorting stations 108c-108q where fruit is ejected fromthe cups upon command from the reading station. Output conveyor means(not shown) receives the ejected fruit. A plurality of photodiode clockapertures 170 are formed in the disc 168 to provide for synchronizationbetween cup arrival at a sorting station and ejection of fruit by an airblast. A synchronizing photodiode light detector is illustrated at 172.The optical and electrical systems used to control sorting of fruit inthis modification are similar to the optical and electrical systemsdescribed above in respect to the apparatus 25.

FIGS. 21 and 22 more specifically illustrate the structure of the cups420 which are in the nature of an annular ring having a flat topsurface. Due to the horizontal positioning and movement in a circularpath of the conveyor means 168, the cups 42a do not require any highback wall, as in the case of the cups 42 that move in an inclined pathto scoop up fruit from the hopper 50 of FIG. 1. However, the opticalaperture 48 in the bottom of the cup is still needed and is present.

It is believed that from the foregoing description taken in conjunctionwith the acocmpanying drawings the operation of the automatic sortingapparatus 25 or 25a will be fully clear and, therefore, a more detailedoperational description is believed unnecessary.

Of course, while both of the illustrated and described forms 25 or 250have been specifically disclosed, it is to be understood that neithersuch description nor illustrations thereof or the Abstract constitutethe invention which is only defined and delimited by the terms and scopeof the appended claims.

What is claimed is:

l. The method of automatically sorting agricultural products inaccordance with a sensed physical property thereof comprising:

a. conveying such products in singular successive fashion from a feedingstation to a reading station;

b. illuminating the products at the reading station in a manner so thatlight rays are diffused by the products in a scattered pattern;

c. optically capturing the scattered light;

d. filtering the captured light to select at least two wavelengths oflight energy transmitted from the products;

e. simultaneously generating electrical signals proportional to aphysical property of the products at each wavelength selected; and,

f. simultaneously interpreting such signals and responsive theretodepositing the products at various sorting stations in accordance wihtthe sensed physical properties thereof, wherein the electrical signalsgenerated are optical density signals that generate optical densitydifference signals and step f) includes 1. comparing the optical densitydifference signals with reference level voltages;

2. generating logic levels output signals in response to the differentmagnitudes of the optical density difference signals; and

3. selectively directing discharging air blasts at the products todeposit them at selected sorting stations in accordance with the logiclevels output signals.

2. Apparatus for sorting objects by measurement of radiant energytransmitted therefrom at at least two wavelengths comprising a source ofradiation to illuminate the object to be sorted, a bundle of lighttransmitting optical elements having a blended end positioned to receiveradiant energy from the object to be sorted, the other end of saidbundle being furcated, a radiant energy sensing device at the terminalof each furcation, and means responsive to said radiant energy sensingdevices for sorting the illuminated objects, said source of illuminationand the blended end of the optical bundle being angularly positionedrelative to each other at an angle other than 180, means for conveyingthe objects from a feeding station past the source of radiation and saidconveyor means having cups for singularly carrying the objects insuccessive fashion past the source of radiation, each of said cupshaving an aperture for the passage of illumination from said radiationsource to said carried objects to be sorted, said source of radiationand said optical elements being disposed on opposite sides of saidconveyor means and illumination from said radiation passes through eachconveyor cup aperture to be defracted by said object and received bysaid optical elements.

3. The invention of claim 2 wherein said radiant energy device comprisesseparate filter means positioned at each furcation termination forselectively passing a single wavelength of light energy transmitted fromsaid object, and separate photoelectric means disposed adjacent eachsaid filter means for receiving light energy filtered by said filtermeans and generating electrical signals proportional to a physicalproperty of said objects at each wavelength selected by said filtermeans.

4. The invention of claim 3 wherein said physical property is thetransmittance of said objects.

5. The invention of claim 2 wherein said means responsive to saidradiant energy sensing devicesfor sorting the illuminated objectcomprise electronic means coupled to said radiant energy sensing meansfor generating sorting signals based on a physical property of saidobjects, and pressure actuated sorting means responsive to said sortingsignals for sorting said objects.

6. The invention of claim 2 wherein said conveyor means is a belt andsaid conveyor cups are disposed on said conveyor belt in a staggeredarray in a plurality of channels whereby only one such conveyor cup willbe located at said radiation source at the same time.

7. The invention of claim 6 further comprising a source of radiation foreach said channel and a bundle for each said channel.

8. Apparatus for sorting objects by measurement of radiant energytransmitted therefrom at at least two wavelengths comprising a source ofradiation to illuminate the object to be sorted, a bundle of lighttransmitting optical elements having a blended end positioned to receiveradiant energy from the object to be sorted, the other end of saidbundle being furcated, a radiant energy sensing device at the terminalof each furcation, means responsive to said radiant energy sensingdevices for sorting the illuminated objects, said means responsive tosaid radiant energy sensing devices for sorting the illuminated objectcomprise electronic means coupled to said radiant energy sensing meansfor generating sorting signals based on a physical property of saidobjects, pressure actuated sorting means responsive to said sortingsignals for sorting said objects, said physical property of said objectsis transmittance and said electronic means comprise logarithmicamplifier means for generating optical density signals at at least twowave lengths, differential amplifier means for receiving said opticaldensity signals and generating optical density difference signals,comparator means for comparing said optical density difference signalswith reference level voltages and generating logic levels output signalsin response to the magnitudes of said optical density differencesignals, shift register means for receiving and passing said logicsignals, a master clock source for driving said shift registers, delaycircuit means for delaying and extending the duration of said signalspassed by said shift registers, and AND gate means responsive to shiftregister output signals and to synchronized object position signals foractivating said sorting means.

9. The invention of claim 8 wherein said AND gate means comprises aplurality of AND gates, each said AND gate comprising a transitor pairturned on by said shift register output connected in series with asilicon controlled rectifier turned on by slave clock means responsiveto the position of said objects to be sorted for generating sortingsignals.

10. Apparatus for sorting objects by measurement of radiant energytransmitted therefrom at at least two wavelengths comprising a source ofradiation to illuminate the object to be sorted, a bundle of lighttransmitting optical elements having a blended end positioned to receiveradiant energy from the object to be sorted,

the other end of said bundle being furcated, a radiant energy sensingdevice at the terminal of each furcation, means responsive to saidradiant energy sensing devices for sorting the illuminated objects, saidmeans responsive to said radiant energy sensing devices for sorting theilluminated object comprise electronic means coupled to said radiantenergy sensing means for generating sorting signals based on a physicalproperty of said objects, and pressure actuated sorting means responsiveto said sorting signals for sorting said objects, said pressure actuatedsorting means includes ejector means comprising air nozzles fordirecting air blasts through said cup apertures to eject objects fromthe cups and air valves controlling the passage of air to and throughthe air nozzles, said air valves being selectively activated by thesorting signals.

11. The invention of claim 10 further comprising ejection corridorsdisposed adjacent said ejector means for receiving and directing objectsejected from the conveyor means, said corridors having a plurality ofcurved parallel partitions to form a plurality of curved channelsthrough which said ejected objects pass in a curved trajectory todissipate kinetic energy possessed by said ejected objects.

12. The invention of claim 11 further comprising sorting conveyor meansmoving through said ejection corridors and having upper faces on whichthe objects fall in leaving the corridors.

13. Apparatus for sorting objects by measurement of radiant energytransmitted therefrom at at least two wavelengths comprising a source ofradiation to illuminate the object to be sorted, a bundle of lighttransmitting optical elements having a blended end positioned to receiveradiant energy from the object to be sorted, the other end of saidbundle being furcated, a radiant energy sensing device at the terminalof each furcation, means responsive to said radiant energy sensingdevices for sorting the illuminated objects, conveyor means forconveying the objects from a feeding station past the source ofradiation and said conveyor means having cups for singularly carryingthe objects in successive fashion past the source of radiation, each ofsaid cups having an aperture for the passage of illumination from saidradiation source to said carried objects to be sorted, and synchronizinglight means disposed on one side of said conveyor means, photo detectormeans disposed opposite said synchronizing light means on the other sideof said conveyor means, and clock signal generating means coupled tosaid photo detector means for generating clock signals each time a saidconveyor cup passes between said synchronizing light source and saidphoto detector.

14. An automatic sorting apparatus for sorting agricultural products inaccordance with a sensed physical property thereof comprising:

a. conveyor means for conveying the products in singularized successivefashion from a feeding station to a reading station;

b. a source of illumination disposed at the reading station forilluminating the products;

c. fiber optic means disposed at the reading station for capturing thelight rays diffused by the products;

d. optical means coupled to the fiber optic means for generatingelectrical signals proportional to the transmittance of the products atat least two wavelengths;

e. an electronic system activated by such transmit tance related signalsto generate sorting signals which indicate the physical condition of theproducts;

f. means for ejecting the products from the conveyor means at selectedsorting stations forward of the reading station;

g, a logic network for interpreting the signals from the electronicsystem for selectively activating said ejecting means at various sortingstations, said conveyor means comprise a moving belt having an upperhorizontal reach, said reach having an inclined end portion, a loadinghopper overlying the inclined end portion and adapted to contain theproducts and defining the feeding station, a plural ity of cups securedto the belt and arranged on the outer face thereof to upstand from saidhorizontal reach, said conveyor belt with the cups moving through thebottom portion of the hopper so that the cups scoop up in asingularizing fashion the products from the hopper, and said belt hasopposing side edges and the cups are arranged in parallel rows that areslanted from one side edge to the other.

15. The invention of claim 14 wherein each cup has a bottom aperture,said source of illumination underly ing the belt and the light raystherefrom passing through the apertures to enter the products and bediffused thereby and said fiber optic means includes a bundle of lighttransmitting elements having a blended end positioned above the belt toreceive radiant energy from the products.

16. The invention of claim 15 wherein said blended end of the opticalbundle and the source of illumination are angularly positioned relativeto each other at an angle other than 17. The invention of claim 15wherein said means for ejecting the products from the conveyor meansincludes air nozzles vertically underlying the conveyor belt at thesorting stations and connected to high pressure air lines and air valvesin said lines controlling the passage of air to and through the nozzles,said nozzles being arranged to pass blasts of air when the associatedair valve is activated by the electronic system through the apertures inthe cups to eject the products from the cups.

18. The invention of claim 17 including ejection corridors disposed atthe sorting stations and into which the ejected products are propelledby the air blasts, said corridors having a plurality of parallel curvedpartitions to form a plurality of curved vertical channels through whichthe propelled products pass in an approximate parabolic trajectory so asto dissipate kinetic energy possessed by said products and outputconveyor means forming the bottom of each corridor and on which theproducts fall after passing through the channels.

19. An automatic sorting apparatus for sorting agricultrual products inaccordance with a sensed physical property thereof comprising:

a. conveyor means for conveying the products in singularized successivefashion from a feeding station to a reading station;

b. a source of illumination disposed at the reading station forilluminating the products;

0. fiber optic means disposed at the reading station for capturing thelight rays diffused by the products;

d. optical means coupled to the fiber optic means for generatingelectrical signals proportional to the transmittance of the products atat least two wavelengths;

e. an electronic system activated by such transmittance related signalsto generate sorting signals which indicate the physical condition of theproducts;

f. means for ejecting the products from the conveyor means at selectedsorting stations forward of the reading station;

g. a logic network for interpreting the signals from reach, saidconveyor belt with the cups moving through the bottom portion of thehopper so that the cups scoop up in a singularizing fashion the productsfrom the hopper, and a tunnel for each row of cups adjacent the backwall of said hopper withthe length of each tunnel being not less thanthe spacing between successive cups of a row whereby at least one cup ofeach row of cups is always in a tunnel.

1. The method of automatically sorting agricultural products inaccordance with a sensed physical property thereof comprising: a.conveying such products in singular successive fashion from a feedingstation to a reading station; b. illuminating the products at thereading station in a manner so that light rays are diffused by theproducts in a scattered pattern; c. optically capturing the scatteredlight; d. filtering the captured light to select at least twowavelengths of light energy transmitted from the products; e.simultaneously generating electrical signals proportional to a physicalproperty of the products at each wavelength selected; and, f.simultaneously interpreting such signals and responsive theretodepositing the products at various sorting stations in accordance wihtthe sensed physical properties thereof, wherein the electrical signalsgenerated are optical deNsity signals that generate optical densitydifference signals and step f) includes
 1. comparing the optical densitydifference signals with reference level voltages;
 2. generating logiclevels output signals in response to the different magnitudes of theoptical density difference signals; and
 3. selectively directingdischarging air blasts at the products to deposit them at selectedsorting stations in accordance with the logic levels output signals. 2.generating logic levels output signals in response to the differentmagnitudes of the optical density difference signals; and
 2. Apparatusfor sorting objects by measurement of radiant energy transmittedtherefrom at at least two wavelengths comprising a source of radiationto illuminate the object to be sorted, a bundle of light transmittingoptical elements having a blended end positioned to receive radiantenergy from the object to be sorted, the other end of said bundle beingfurcated, a radiant energy sensing device at the terminal of eachfurcation, and means responsive to said radiant energy sensing devicesfor sorting the illuminated objects, said source of illumination and theblended end of the optical bundle being angularly positioned relative toeach other at an angle other than 180*, means for conveying the objectsfrom a feeding station past the source of radiation and said conveyormeans having cups for singularly carrying the objects in successivefashion past the source of radiation, each of said cups having anaperture for the passage of illumination from said radiation source tosaid carried objects to be sorted, said source of radiation and saidoptical elements being disposed on opposite sides of said conveyor meansand illumination from said radiation passes through each conveyor cupaperture to be defracted by said object and received by said opticalelements.
 3. The invention of claim 2 wherein said radiant energy devicecomprises separate filter means positioned at each furcation terminationfor selectively passing a single wavelength of light energy transmittedfrom said object, and separate photoelectric means disposed adjacenteach said filter means for receiving light energy filtered by saidfilter means and generating electrical signals proportional to aphysical property of said objects at each wavelength selected by saidfilter means.
 3. selectively directing discharging air blasts at theproducts to deposit them at selected sorting stations in accordance withthe logic levels output signals.
 4. The invention of claim 3 whereinsaid physical property is the transmittance of said objects.
 5. Theinvention of claim 2 wherein said means responsive to said radiantenergy sensing devices for sorting the illuminated object compriseelectronic means coupled to said radiant energy sensing means forgenerating sorting signals based on a physical property of said objects,and pressure actuated sorting means responsive to said sorting signalsfor sorting said objects.
 6. The invention of claim 2 wherein saidconveyor means is a belt and said conveyor cups are disposed on saidconveyor belt in a staggered array in a plurality of channels wherebyonly one such conveyor cup will be located at said radiation source atthe same time.
 7. The invention of claim 6 further comprising a sourceof radiation for each said channel and a bundle for each said channel.8. Apparatus for sorting objects by measurement of radiant energytransmitted therefrom at at least two wavelengths comprising a source ofradiation to illuminate the object to be sorted, a bundle of lighttransmitting optical elements having a blended end positioned to receiveradiant energy from the object to be sorted, the other end of saidbundle being furcated, a radiant energy sensing device at the terminalof each furcation, means responsive to said radiant energy sensingdevices for sorting the illuminated objects, said means responsive tosaid radiant energy sensing devices for sorting the illuminated objectcomprise electronic means coupled to said radiant energy sensing meansfor generating sorting signals based on a physical property of saidobjects, pressure actuated sorting means responsive to said sortingsignals for sorting said objects, said physical property of said objectsis transmittance and said electronic means comprise logarithmicamplifier means for generating optical density signals at at least twowave lengths, differential amplifier means for receiving said opticaldensity signals and generating optical density difference signals,comparator means for comparing said optical density difference signalswith reference level voltages and generating logic levels output signalsin response to the magnitudes of said optical density differencesignals, shift register means for receiving and passing said logicsignals, a master clock source for driving said shift registers, delaycircuit means for delaying and extending the duration of said signalspassed by said shift registers, and AND gate means responsive to shiftregister output signals and to synchronized object position signals foractivating said sorting means.
 9. The invention of claim 8 wherein saidAND gate means comprises a plurality of AND gates, each said AND gatecomprising a transitor pair turned on by said shift register outputconnected in series with a silicon controlled rectifier turned on byslave clock means responsive to the position of said objects to besorted for generating sorting signals.
 10. Apparatus for sorting objectsby measurement of radiant energy transmitted therefrom at at least twowavelengths comprising a source of radiation to illuminate the object tobe sorted, a bundle of light transmitting optical elements having ablended end positioned to receive radiant energy from the object to besorted, the other end of said bundle being furcated, a radiant energysensing device at the terminal of each furcation, means responsive tosaid radiant energy sensing devices for sorting the illuminated objects,said means responsive to said radiant energy sensing devices for sortingthe illuminated object comprise electronic means coupled to said radiantenergy sensing means for generating sorting signals based on a physicalproperty of said objects, and pressure actuated sorting means responsiveto said sorting signals for sorting said objects, said pressure actuatedsorting means includes ejector means comprising air nozzles fordirecting air blasts through said cup apertures to eject objects fromthe cups and air valves controlling the passage of air to and throughthe air nozzles, said air valves being selectively activated by thesorting signals.
 11. The invention of claim 10 further comprisingejection corridors disposed adjacent said ejector means for receivingand directing objects ejected from the conveyor means, said corridorshaving a plurality of curved parallel partitions to form a plurality ofcurved channels through which said ejected objects pass in a curvedtrajectory to dissipate kinetic energy possessed by said ejectedobjects.
 12. The invention of claim 11 further comprising sortingconveyor means moving through said ejection corridors and having upperfaces on which the objects fall in leaving the corridors.
 13. Apparatusfor sorting objects by measurement of radiant energy transmittedtherefrom at at least two wavelengths comprising a source of radiationto illuminate the object to be sorted, a bundle of light transmittingoptical elements having a blended end positioned to receive radiantenergy from the object to be sorted, the other end of said bundle beingfurcated, a radiant energy sensing device at the terminal of eachfurcation, means responsive to said radiant energy sensing devices forsorting the illuminated objects, conveyor means for conveying theobjects from a feeding station past the source of radiation and saidconveyor means having cups for singularly carrying the objects insuccessive fashion past the source of radiation, each of said cupshaving an aperture for the passage of illumination from said radiationsource to said carried objects to be sorted, and synchronizing lightmeans disposed on one side of said conveyor means, photo detector meansdisposed opposite said synchronizing light means on the other side ofsaid conveyor means, and clock signal generating means coupled to saidphoto detector means for generating clock signals each time a saidconveyor cup passes between said synchronizing light source and saidphoto detector.
 14. An automatic sorting apparatus for sortingagricultural products in accordance with a sensed physical propertythereof comprising: a. conveyor means for conveying the products insingularized successive fashion from a feeding station to a readingstation; b. a source of illumination disposed at the reading station forilluminating the products; c. fiber optic means disposed at the readingstation for capturing the light rays diffused by the products; d.optical means coupled to the fiber optic means for generating electricalsignals proportional to the transmittance of the products at at leasttwo wavelengths; e. an electronic system activated by such transmittancerelated signals to generate sorting signals which indicate the physicalcondition of the products; f. means for ejecting the products from theconveyor means at selected sorting stations forward of the readingstation; g. a logic network for interpreting the signals from theelectronic system for selectively activating said ejecting means atvarious sorting stations, said conveyor means comprise a moving belthaving an upper horizontal reach, said reach having an inclined endportion, a loading hopper overlying the inclined end portion and adaptedto contain the products and defining the feeding station, a plurality ofcups secured to the belt and arranged on the outer face thereof toupstand from said horizontal reach, said conveyor belt with the cupsmoving through the bottom portion of the hopper so that the cups scoopup in a singularizing fashion the products from the hopper, and saidbelt has opposing side edges and the cups are arranged in parallel rowsthat are slanted from one side edge to the other.
 15. The invention ofclaim 14 wherein each cup has a bottom aperture, said source ofillumination underlying the belt and the light rays therefrom passingthrough the apertures to enter the products and be diffused thereby andsaid fiber optic means includes a bundle of light transmitting elementshaving a blended end positioned above the belt to receive radiant energyfrom the products.
 16. The invention of claim 15 wherein said blendedend of the optical bundle and the source of illumination are angularlypositioned relative to each other at an angle other than 180*.
 17. Theinvention of claim 15 wherein said means for ejecting the products fromthe conveyor means includes air nozzles vertically underlying theconveyor belt at the sorting stations and connected to high pressure airlines and air valves in said lines controlling the passage of air to andthrough the nozzles, said nozzles being arranged to pass blasts of airwhen the associated air valve is activated by the electronic systemthrough the apertures in the cups to eject the products from the cups.18. The invention of claim 17 including ejection corridors disposed atthe sorting stations and into which the ejected products are propelledby the air blasts, said corridors having a plurality of parallel curvedpartitions to form a plurality of curved vertical channels through whichthe propelled products pass in an approximate parabolic trajectory so asto dissipate kinetic energy possessed by said products and outputconveyor means forming the bottom of each corridor and on which theproducts fall after passing through the channels.
 19. An automaticsorting apparatus for sorting agricultrual products in accordance with asensed physical property thereof comprising: a. conveyor means forconveying the products in singularized successive fashion from a feedingstation to a reading station; b. a source of illumination disposed atthe reading station for illuminating the products; c. fiber optic meansdisposed at the reading station for capturing tHe light rays diffused bythe products; d. optical means coupled to the fiber optic means forgenerating electrical signals proportional to the transmittance of theproducts at at least two wavelengths; e. an electronic system activatedby such transmittance related signals to generate sorting signals whichindicate the physical condition of the products; f. means for ejectingthe products from the conveyor means at selected sorting stationsforward of the reading station; g. a logic network for interpreting thesignals from the electronic system for selectively activating saidejecting means at various sorting stations, said conveyor meanscomprising a moving belt having an upper horizontal reach, said reachhaving an inclined end portion, a loading hopper overlying the inclinedend portion and adapted to contain the products and defining the feedingstation, a plurality of cups secured to the belt and arranged on theouter face thereof to upstand from said horizontal reach, said conveyorbelt with the cups moving through the bottom portion of the hopper sothat the cups scoop up in a singularizing fashion the products from thehopper, and a tunnel for each row of cups adjacent the back wall of saidhopper with the length of each tunnel being not less than the spacingbetween successive cups of a row whereby at least one cup of each row ofcups is always in a tunnel.